Draft: Implement basic version of kalman filter for human tracking

Implement ukfm from armarx/RobotAPI/libraries

source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp

@@ -107,7 +107,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
                 //initial position and orientation according to detected human
                 SystemModelT::StateT state0;
                 //initialize with detected human pose position
-                state0.position = human.pose.translation();
+                state0.position = human.pose.translation().cast<T>();
                 //initialize with SO2 matrix according to detected human pose rotation
                 state0.orientation = manif::SO2<T>{Eigen::Rotation2Df(human.pose.linear()).angle()};